Create/ASUS Sensors

From Tekkotsu Wiki

The Create/ASUS robot's sensors include various devices: two pushbuttons, left and right bump switches, four cliff detectors, an IR wall detector, a built-in odometer, battery state sensors, and several more.

Sensor, button, and output names are defined in the file Tekkotsu/Shared/CreateInfo.h. Most of the information on this page comes from the Create Open Interface manual.

Angle in degrees that the robot has turned; counterclockwise is positive

-32768 to 32767

BatteryVoltage

Battery and charging state

BatteryCurrent

BatteryCharge

BatteryTemp

ChargingState

ModeState

Open Interface mode: 0=Off, 1=Passive, 2=Safe, 3=Full

0-3

Buttons

The buttons consist of physical buttons that users can press (the Play and Advance buttons, the left and right bump switches, and the wheel drop sensors), and virtual "buttons" that indicate an event such as an over-current condition or the detection of a virtual wall. All button values are binary (0 or 1).